\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (149bp,370bp) [state] {$q_{0}$};
  \node (q6) at (79bp,106bp) [state] {$q_{6}$};
  \node (q7) at (27bp,18bp) [state] {$q_{7}$};
  \node (q4) at (234bp,106bp) [state] {$q_{4}$};
  \node (q2) at (149bp,194bp) [state] {$q_{2}$};
  \node (q8) at (103bp,18bp) [state] {$q_{8}$};
  \node (q5) at (77bp,194bp) [state] {$q_{5}$};
  \node (q1) at (149bp,282bp) [state] {$q_{1}$};
  \node (q3) at (268bp,194bp) [state] {$q_{3}$};
  \draw [->] (q6) ..controls (80bp,78bp) and (82bp,65bp)  .. (85bp,54bp) .. controls (86bp,51bp) and (87bp,47bp)  .. node[auto] {$\tau$} (q8);
  \draw [->] (q6) ..controls (62bp,76bp) and (51bp,58bp)  .. node[auto] {$\tau$} (q7);
  \draw [->] (q7) ..controls (18bp,72bp) and (11bp,153bp)  .. (41bp,212bp) .. controls (61bp,250bp) and (77bp,260bp)  .. node[auto] {$\overline{a}$} (q1);
  \draw [->] (q4) ..controls (216bp,144bp) and (200bp,181bp)  .. (185bp,212bp) .. controls (178bp,226bp) and (169bp,243bp)  .. node[auto] {$\overline{a}$} (q1);
  \draw [->] (q2) ..controls (134bp,221bp) and (130bp,234bp)  .. (133bp,246bp) .. controls (134bp,249bp) and (135bp,252bp)  .. node[auto] {$\overline{a}$} (q1);
  \draw [->] (q0) ..controls (149bp,340bp) and (149bp,324bp)  .. node[auto] {$\overline{a}$} (q1);
  \draw [->] (q8) ..controls (96bp,46bp) and (93bp,59bp)  .. (90bp,70bp) .. controls (89bp,73bp) and (88bp,76bp)  .. node[auto] {$c$} (q6);
  \draw [->] (q5) ..controls (78bp,164bp) and (78bp,148bp)  .. node[auto] {$c$} (q6);
  \draw [->] (q1) ..controls (109bp,258bp) and (96bp,238bp)  .. node[auto] {$\tau$} (q5);
  \draw [->] (q1) ..controls (189bp,268bp) and (210bp,258bp)  .. (226bp,246bp) .. controls (235bp,238bp) and (244bp,228bp)  .. node[auto] {$\tau$} (q3);
  \draw [->] (q1) ..controls (149bp,252bp) and (149bp,236bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q3) ..controls (256bp,164bp) and (250bp,147bp)  .. node[auto] {$\overline{b}$} (q4);
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\end{tikzpicture}
% End of code

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\end{document}
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